A good, older introduction can be found here: http://www.gamasutra.com/resource_guide/20030121/jacobson_pfv.htm http://www.gamasutra.com/resource_guide/2003012

A good, older introduction can be found here: http://www.gamasutra.com/resource_guide/20030121/jacobson_pfv.htm http://www.gamasutra.com/resource_guide/20030121/jacobson_pf... If you want to look into more rigorous and advanced version, reading position based dynamics papers (http://matthias-mueller-fischer.ch http://matthias-mueller-fischer.ch) will give you a lot to chew on. Generally speaking Googling "verlet physics" or "position based dynamics" will give you a lot of resources.